Collaborative Human-Robot Framework for Delicate Sanding of Complex Shape Surfaces

This letter presents a collaborative human-robot framework for delicate sanding of complex shape surfaces. Delicate sanding is performed using a standard industrial manipulator, equipped with the force/torque sensor and specially designed compliant control algorithm. Together with the compliant control, we discuss trajectory planning and safety problem of such an approach. The experience of the human workers is exploited through the intuitive framework and applied to plan the trajectories for the robot. The flexibility and the reliability of the proposed framework is tested in real working conditions in the factory.